Reconsidering Six-Degree-of-Freedom Magnetic Actuation Across Scales

对磁tool在电磁驱动系统中的6D manipulation的讨论，特别是对放置在其中的磁控件受转矩作用的分析。介绍了一种特别的二磁铁tool结构，实现6D manipulation。

重新考虑跨尺度的6D磁驱动
Reconsidering Six-Degree-of-Freedom Magnetic Actuation Across Scales [1]
Paper Link
Authors: Colton R. Thornley, etc.
2019, IEEE Robotics and Automation Letters (RA-L)

0. 摘要 Abstract

磁性物体通常被建模为一个磁偶极子，提供五自由度（5-DOF）驱动，包括3-DOF力和2-DOF扭矩。提出了一种使用三磁体对象的方法，其中一个磁体用于传统的5自由度致动，而两个辅助磁体则通过力偶达到第六（转矩）DOF，并且仍然可以对该对象进行建模和控制，就像像传统的5自由度驱动一样，它存在于空间中的单个点。我们重新考虑这种6自由度磁致动的方法。我们使用各种条件良好的磁操纵系统，对可以在形状不同（但假设各个磁化矢量共面），大小和方向的多磁体对象上产生的转矩进行了数值研究。我们发现，随着磁性物体尺寸减小的极限，存在磁性物体的最佳布置，这对于操纵系统是不变的。我们发现，第六自由度要比原始的五自由度付出更多的代价，当使用最佳的磁性布置时，第六自由度降低了61％。该值对于操纵系统也不变。最后，我们发现随着物体尺寸的减小，第六自由度相对于其他五个自由度的缩放比例较差，但是当我们认为物体相对于其被驱动的距离相对较大时，第六自由度会相对较大。
The magnetic object is typically modeled as a magnetic dipole, affording 5-D actuation, comprising 3-D force and 2-D torque. A method is proposed that uses a three-magnet object, in which one magnet is used for traditional 5-D actuation, and two auxiliary magnets achieve the 6-th DoF via a force couple, and the object can still be modeled and controlled as if it exists at a single point in the space, as in traditional 5-D actuation. We reconsider this method of 6-D magnetic actuation. We perform a numerical study of torque that can be generated on a multi-magnet object of varying shape, size and orientation, using a variety of well conditioned magnetic manipulation systems. We find that, in the limit as the magnetic object is reduced in size, there is an optimal arrangement of the magnetic object, which is invariant to the manipulation system. We find that the 6-th DoF comes at a cost to the original 5 DoF, reducing them by 61% when using the optimal magnetic arrangement; this value is also invariant to the manipulation system. Finally, we find the 6-th DoF scales poorly relative to the other five as the size of the object is reduced, but can be relatively large as we consider objects that are large relative to the distances over which they are being actuated.

1. 介绍 Introduction

一种获得工具的6自由度磁驱动的方式是刚性安装超过一个磁物体在工具中不同位置。因为每个磁物体在施加场中处于一个不同的位置，各自5自由度驱动的合成能被用来获得期望的6自由度驱动在刚体上。在实际中，这要求在控制输入中有足够的自由度。

工具被建模为空间中的一个单点，并且场和场导数仅在这单点计算。在它们的理论中，原始的永磁铁极子，称为${\mathbf{m}}_{\parallel }$，被增强通过增加一对额外的永磁铁极子，被称为${\mathbf{m}}_{\perp }$，它们是互相反向平行，并垂直于${\mathbf{m}}_{\parallel }$。原始的5D驱动还是在${\mathbf{m}}_{\parallel }$上执行，但是这是可能的用场中的空间导数来施加一个耦合于两个${\mathbf{m}}_{\perp }$